文章基本信息

标题：Symbolic Dynamic Modelling of Locomotion Systems with Persistent Contacts - Application to the 3D Bicycle
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作者：Johan Mauny ; Mathieu Porez ; Frédéric Boyer 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：7598-7605
DOI：10.1016/j.ifacol.2017.08.1007
语种：English
出版社：Elsevier
摘要：AbstractIn this article, we propose a general symbolic dynamic modelling framework devoted to Mobile Multibody Systems subject to hard persistent contacts. In particular, all rigid planar and spatial wheeled vehicles belong to this class of systems. To illustrate the approach we apply it to a realistic model of the three dimensional bicycle. Though being a familiar object for everybody, deriving the fully nonlinear dynamics of this system in a closed symbolic form is far from being trivial. Using a Newton-Euler algorithm coupled to a projective approach based on an explicit model of the contacts, the approach is successfully applied to the simulation of a free bicycle. It shows how the passive asymptotic stabilisation of the bicycle can be naturally ensured when it is thrown with sufficient initial velocities.
关键词：KeywordsDynamic modellingnonlinear systemsnonholonomic systemsbicycle locomotiondynamic stability